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We present a scalable combined localization infrastructure deployment and task planning algorithm for underwater assembly. Infrastructure is autonomously modified to suit the needs of manipulation tasks based on an uncertainty model on the infrastructure's positional accuracy. Our uncertainty model can be combined with the noise characteristics from multiple devices. For the task planning problem, we propose a layer-based clustering approach that completes the manipulation tasks one cluster at a time. We employ movable visual fiducial markers as infrastructure and an autonomous underwater vehicle (AUV) for manipulation tasks. The proposed task planning algorithm is computationally simple, and we implement it on AUV without any offline computation requirements. Combined hardware experiments and simulations over large datasets show that the proposed technique is scalable to large areas., Comment: Submitted to ICRA 2024

We present approximation algorithms for the Fault-tolerant $k$-Supplier with Outliers ($\mathsf{F}k\mathsf{SO}$) problem. This is a common generalization of two known problems -- $k$-Supplier with Outliers, and Fault-tolerant $k$-Supplier -- each of which generalize the well-known $k$-Supplier problem. In the $k$-Supplier problem the goal is to serve $n$ clients $C$, by opening $k$ facilities from a set of possible facilities $F$; the objective function is the farthest that any client must travel to access an open facility. In $\mathsf{F}k\mathsf{SO}$, each client $v$ has a fault-tolerance $\ell_v$, and now desires $\ell_v$ facilities to serve it; so each client $v$'s contribution to the objective function is now its distance to the $\ell_v^{\text{th}}$ closest open facility. Furthermore, we are allowed to choose $m$ clients that we will serve, and only those clients contribute to the objective function, while the remaining $n-m$ are considered outliers. Our main result is a $\min\{4t-1,2^t+1\}$-approximation for the $\mathsf{F}k\mathsf{SO}$ problem, where $t$ is the number of distinct values of $\ell_v$ that appear in the instance. At $t=1$, i.e. in the case where the $\ell_v$'s are uniformly some $\ell$, this yields a $3$-approximation, improving upon the $11$-approximation given for the uniform case by Inamdar and Varadarajan [2020], who also introduced the problem. Our result for the uniform case matches tight $3$-approximations that exist for $k$-Supplier, $k$-Supplier with Outliers, and Fault-tolerant $k$-Supplier. Our key technical contribution is an application of the round-or-cut schema to $\mathsf{F}k\mathsf{SO}$. Guided by an LP relaxation, we reduce to a simpler optimization problem, which we can solve to obtain distance bounds for the "round" step, and valid inequalities for the "cut" step., Comment: Accepted to STACS 2024. Abstract edited to meet arXiv requirements. 17+3 pages, 3 figures

We investigated temperature ($T$) dependent ultrafast near-infrared (NIR) transient reflectivity dynamics in coexisting superconducting (SC) and charge density wave (CDW) phases of two-dimensional 2H-NbSe$_{2}$ using NIR and visible excitations. With visible pump-photon excitation (400 nm) we find a slow high-energy quasiparticle relaxation channel which is present in all phases. In the CDW phase, we observe a distinctive transient response component, irrespective of the pump-photon energy. The component is marked by the absence of coherent amplitude mode oscillations and a relatively slow, picosecond rise time, which is different than in most of the typical CDW materials. In the SC phase, another tiny component emerges that is associated with optical suppression of the SC phase. The transient reflectivity relaxation in the CDW phase is dominated by phonon diffusive processes with an estimated low-$T$ heat diffusion constant anisotropy of $\sim30$. Strong excitation of the CDW phase reveals a weakly non-thermal CDW order parameter (OP) suppression. Unlike CDW systems with a larger gap, where the optical OP suppression involves only a small fraction of phonon degrees of freedom, the OP suppression in 2H-NbSe$_{2}$ is characterised by the excitation of a large amount of phonon degrees of freedom and significantly slower dynamics.

We consider the approximability of center-based clustering problems where the points to be clustered lie in a metric space, and no candidate centers are specified. We call such problems "continuous", to distinguish from "discrete" clustering where candidate centers are specified. For many objectives, one can reduce the continuous case to the discrete case, and use an $\alpha$-approximation algorithm for the discrete case to get a $\beta\alpha$-approximation for the continuous case, where $\beta$ depends on the objective: e.g. for $k$-median, $\beta = 2$, and for $k$-means, $\beta = 4$. Our motivating question is whether this gap of $\beta$ is inherent, or are there better algorithms for continuous clustering than simply reducing to the discrete case? In a recent SODA 2021 paper, Cohen-Addad, Karthik, and Lee prove a factor-$2$ and a factor-$4$ hardness, respectively, for continuous $k$-median and $k$-means, even when the number of centers $k$ is a constant. The discrete case for a constant $k$ is exactly solvable in polytime, so the $\beta$ loss seems unavoidable in some regimes. In this paper, we approach continuous clustering via the round-or-cut framework. For four continuous clustering problems, we outperform the reduction to the discrete case. Notably, for the problem $\lambda$-UFL, where $\beta = 2$ and the discrete case has a hardness of $1.27$, we obtain an approximation ratio of $2.32 < 2 \times 1.27$ for the continuous case. Also, for continuous $k$-means, where the best known approximation ratio for the discrete case is $9$, we obtain an approximation ratio of $32 < 4 \times 9$. The key challenge is that most algorithms for discrete clustering, including the state of the art, depend on linear programs that become infinite-sized in the continuous case. To overcome this, we design new linear programs for the continuous case which are amenable to the round-or-cut framework., Comment: 24 pages, 0 figures. Full version of ESA 2022 paper https://drops.dagstuhl.de/opus/volltexte/2022/16971 . This version adds a link to the conference version and fixes minor formatting issues

We consider the many-to-many bipartite matching problem in the presence of two-sided preferences and two-sided lower quotas. The input to our problem is a bipartite graph G=(A U B, E), where each vertex in A U B specifies a strict preference ordering over its neighbors. Each vertex has an upper quota and a lower quota denoting the maximum and minimum number of vertices that can be assigned to it from its neighborhood. In the many-to-many setting with two-sided lower quotas, informally, a critical matching is a matching which fulfils vertex lower quotas to the maximum possible extent. This is a natural generalization of the definition of critical matching in the one-to-one setting [Kavitha T., FSTTCS 2021]. Our goal in the given problem is to find a popular matching in the set of critical matchings. A matching is popular in a given set of matchings if it remains undefeated in a head-to-head election with any matching in that set. Here, vertices cast votes between pairs of matchings. We show that there always exists a matching that is popular in the set of critical matchings. We present an efficient algorithm to compute such a matching of the largest size. We prove the popularity of our matching using a dual certificate.

Mapper is an algorithm that summarizes the topological information contained in a dataset and provides an insightful visualization. It takes as input a point cloud which is possibly high-dimensional, a filter function on it and an open cover on the range of the function. It returns the nerve simplicial complex of the pullback of the cover. Mapper can be considered a discrete approximation of the topological construct called Reeb space, as analysed in the $1$-dimensional case by [Carriere et al.,2018]. Despite its success in obtaining insights in various fields such as in [Kamruzzaman et al., 2016], Mapper is an ad hoc technique requiring lots of parameter tuning. There is also no measure to quantify goodness of the resulting visualization, which often deviates from the Reeb space in practice. In this paper, we introduce a new cover selection scheme for data that reduces the obscuration of topological information at both the computation and visualisation steps. To achieve this, we replace global scale selection of cover with a scale selection scheme sensitive to local density of data points. We also propose a method to detect some deviations in Mapper from Reeb space via computation of persistence features on the Mapper graph., Comment: Accepted at ICDMW